US7962240B2 - Methods and systems for synchronizing a control signal of a slave follower with a master source - Google Patents

Methods and systems for synchronizing a control signal of a slave follower with a master source Download PDF

Info

Publication number
US7962240B2
US7962240B2 US11/961,198 US96119807A US7962240B2 US 7962240 B2 US7962240 B2 US 7962240B2 US 96119807 A US96119807 A US 96119807A US 7962240 B2 US7962240 B2 US 7962240B2
Authority
US
United States
Prior art keywords
slave follower
curve
slave
follower
master source
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related, expires
Application number
US11/961,198
Other languages
English (en)
Other versions
US20090160504A1 (en
Inventor
William Lindsay Morrison
Daniel H. Miller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intelligent Platforms LLC
Original Assignee
GE Intelligent Platforms Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GE Intelligent Platforms Inc filed Critical GE Intelligent Platforms Inc
Assigned to GE FANUC INTELLIGENT PLATFORMS, INC. reassignment GE FANUC INTELLIGENT PLATFORMS, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: MILLER, DANIEL H., MORRISON, WILLIAM LINDSAY
Priority to US11/961,198 priority Critical patent/US7962240B2/en
Priority to PCT/US2008/083567 priority patent/WO2009085422A1/en
Priority to EP08869139A priority patent/EP2225620A1/en
Priority to CN200880122041.0A priority patent/CN101952785B/zh
Priority to JP2010539562A priority patent/JP2011508312A/ja
Publication of US20090160504A1 publication Critical patent/US20090160504A1/en
Assigned to GE INTELLIGENT PLATFORMS, INC. reassignment GE INTELLIGENT PLATFORMS, INC. CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: GE FANUC INTELLIGENT PLATFORMS, INC.
Publication of US7962240B2 publication Critical patent/US7962240B2/en
Application granted granted Critical
Expired - Fee Related legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34135—Spline
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42186—Master slave, motion proportional to axis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50231—Synchronize engage, disengage groups of axis as function of position of simulate

Definitions

  • This invention relates generally to control signals, and more specifically, to methods and systems for synchronizing a control signal of a slave follower with a master source.
  • At least some known systems include a master source and a slave follower.
  • the motion of the slave follower is determined by the motion of the master source.
  • the slave follower and the master source operate according to a position-to-position relationship.
  • a position of the slave follower is defined as a function of a profile of the master source.
  • the function defining the master source-slave follower relationship may dictate that when the master source is at a first position, the slave follower must be at a second position. Accordingly, during operation of the system, the position of the slave follower must track the profile of the master source based on the function defining the master source-slave follower relationship.
  • the system must adjust a control signal of the slave follower such that the control signal is synchronized with the master source.
  • the control signal of the slave follower must be synchronized with the master profile so that the slave follower and the master source can operate according to the function defining the master source-slave follower relationship. This is sometimes known as “flying-coupling.”
  • the control signal of the slave follower is configured to synchronize with the master profile by defining a plurality of break points where a position of the slave follower must correspond to a particular position of the master source.
  • the slave follower upon start-up of the slave follower, is operated at any rate necessary for the control signal of the slave follower to synchronize with the master profile at the next break point. Accordingly, the velocity and acceleration of the slave follower are relatively uncontrolled. As such, the slave follower may experience undesirable movement, such as jerk, from a sudden increase or decrease in acceleration and/or velocity. Jerk as described herein is the derivative of acceleration. Typically, this movement is unacceptable in most systems.
  • known methods of synchronizing the control signal of the slave follower with a master profile often require constraints to be placed on the master source and/or constraints to be lifted from the slave follower. Specifically, a velocity at which the master source moves may be reduced to allow the slave follower to synchronize with the master source. In another example, synchronizing the slave follower may require the slave follower to operate at a velocity that is beyond the capabilities of the slave follower. As such, known methods commonly violate the kinematic limits of the system.
  • a method for synchronizing a slave follower with a master source includes defining a relationship between the master source and the slave follower, inputting a first position of the master source, and inputting a first position of the slave follower.
  • the method also includes defining a second position where the slave follower synchronizes with the master source, and fitting a curve between the first position of the slave follower the second position. The curve is fit based on the relationship between the master source and the slave follower, the first position of the slave follower, the first position of the master source, and the second position. The curve is fit to synchronize the slave follower and the master source without exceeding pre-determined boundaries of the slave follower.
  • a system including a master source and a slave follower includes a processor that is configured to synchronize the slave follower with the master source by defining a relationship between the master source and the slave follower, inputting a first position of the master source, and inputting a first position of the slave follower.
  • the processor also defines a second position where the slave follower synchronizes with the master source, and fits a curve between the first position of the slave follower the second position. The curve is fit based on the relationship between the master source and the slave follower, the first position of the slave follower, the first position of the master source, and the second position. The curve is fit to synchronize the slave follower and the master source without exceeding pre-determined boundaries of the slave follower.
  • a computer program embodied on a computer-readable medium includes at least one code segment that is configured to instruct a computer to synchronize a slave follower with a master source by defining a relationship between the master source and the slave follower, inputting a first position of the master source, inputting a first position of the slave follower.
  • the computer program also includes at least one code segment that is configured to instruct the computer to define a second position where the slave follower synchronizes with the master source, and fit a curve between the first position of the slave follower the second position. The curve is fit based on the relationship between the master source and the slave follower, the first position of the slave follower, the first position of the master source, and the second position. The curve is fit to synchronize the slave follower and the master source without exceeding pre-determined boundaries of the slave follower.
  • FIG. 1 is a schematic view of an exemplary system
  • FIG. 2A shows a master profile that represents a position of the master source shown in FIG. 1 as a function of time.
  • FIG. 2B shows an exemplary control signal that represents a position of the slave follower shown in FIG. 1 as a function of time.
  • FIG. 3 is a flowchart of an exemplary method for defining a curve to synchronize a control signal, such as shown in FIG. 2B , with a master profile, such as shown in FIG. 2A ;
  • FIG. 4A shows the master profile shown in FIG. 2A .
  • FIG. 4B shows a position curve that represents a position of the slave follower shown in FIG. 1 .
  • FIG. 4C shows a velocity curve that represents a velocity of the slave follower shown in FIG. 1 as defined by the position curve shown in FIG. 4B .
  • FIG. 4D shows an acceleration curve that represents an acceleration of the slave follower shown in FIG. 1 as defined by the velocity curve shown in FIG. 4C .
  • FIG. 5A shows the master profile shown in FIG. 2A .
  • FIG. 5B shows a slave follower position curve that represents a position of the slave follower shown in FIG. 1 .
  • FIG. 5C shows a velocity curve that represents a velocity of the slave follower shown in FIG. 1 as defined by the position curve shown in FIG. 5B .
  • FIG. 5D shows an acceleration curve that represents an acceleration of the slave follower shown in FIG. 1 as defined by the velocity curve shown in FIG. 5C .
  • FIG. 6A shows the master profile shown in FIG. 2A .
  • FIG. 6B shows a slave follower position curve that represents a position of the slave follower shown in FIG. 1 .
  • FIG. 6C shows a velocity curve 264 that represents a velocity of the slave follower shown in FIG. 1 as defined by the position curve shown in FIG. 6B .
  • FIG. 6D shows an acceleration curve that represents an acceleration of the slave follower shown in FIG. 1 as defined by the velocity curve shown in FIG. 6C .
  • FIG. 7A shows the quintic ramp shown in FIG. 4 .
  • FIG. 7B shows one embodiment of a curve for adjusting the quintic ramp shown in FIG. 7A .
  • FIG. 8A shows the quintic ramp shown in FIG. 4 .
  • FIG. 8B shows an alternative embodiment of a curve for adjusting the quintic ramp shown in FIG. 8A .
  • the present invention provides a system including a slave follower, a master source, and a computer.
  • the computer is in operational control communication with each of the slave follower and the master source.
  • the computer is only necessary to observe a signal of the master source.
  • the technical effect of the computer is to synchronize a control signal of the slave follower with a profile of the master source using a position-to-position relationship that obeys the kinematic constraints of the slave follower.
  • the computer is instructed by a processor and/or a computer program.
  • the technical effect of the processor and/or the computer program is to instruct the computer to synchronize the control signal with the master profile using the position-to-position relationship that obeys the kinematic constraints of the slave follower.
  • the control signal is synchronized with the master profile by applying a quintic-hermite spline to fit a curve between a first position of the control signal and a second position where the control signal is configured to synchronize with the master profile. Accordingly, the control signal synchronizes with the master profile without placing constraints on the master source, removing constraints from the slave follower, and/or creating undesirable movement, such as jerk movement, within the slave follower.
  • the curve can be adjusted to account for one or more constraints on the slave follower. For example, in one embodiment, the curve is adjusted by using quintic-hermite splines to fit one or more points within one or more portions of the curve that exceed a constraint. In a further embodiment, the curve is adjusted by operating the slave follower off the curve, operating the slave follower within the constraint while the slave follower is operated off the curve, and generating a new curve to urge the slave follower onto the original curve.
  • control signal is synchronized with the master profile within a time-frame that facilitates maintaining a performance of the system.
  • the system is protected by preventing or limiting a behavior of the slave follower.
  • the system allows for a wide range of behaviors for the master source.
  • the master source may operate utilizing short or long moves, high or low velocities, and/or high or low accelerations.
  • the system will attempt to self-correct if the slave follower approaches or exceeds a constraint.
  • master source and a slave follower
  • slave follower may refer to, but are not limited to, motors, hydraulics, engines, and/or pneumatic devices.
  • processors are described with respect to processors and computer programs, as will be appreciated by one of ordinary skill in the art, the present invention may also apply to any system and/or program that is configured to synchronize a control signal with a master profile.
  • processor is not limited to just those integrated circuits referred to in the art as processors, but broadly refers to computers, processors, microcontrollers, microcomputers, programmable logic controllers, application specific integrated circuits, and other programmable circuits.
  • the processor may be part of a computer that may include a device, such as; a floppy disk drive or compact disc-read-only memory (CD-ROM) drive, for reading data from a computer-readable medium, such as a floppy disk, a CD-ROM, a magneto-optical disk (MOD), or a digital versatile disc (DVD).
  • a device such as; a floppy disk drive or compact disc-read-only memory (CD-ROM) drive, for reading data from a computer-readable medium, such as a floppy disk, a CD-ROM, a magneto-optical disk (MOD), or a digital versatile disc (DVD).
  • CD-ROM compact disc-read-only memory
  • FIG. 1 is a schematic view of an exemplary system 100 .
  • System 100 includes a master source 104 , a slave follower 108 , and a computer 112 that includes a processor 116 .
  • computer 112 is in operational control communication with and configured to operate system 100 , and in particular, master source 104 and slave follower 108 .
  • processor 116 is configured to instruct computer 112 to operate system 100 .
  • a computer program instructs computer 112 to operate system 100 .
  • the motion of slave follower 108 is determined by the motion of master source 104 . More specifically, slave follower 108 and master source 104 operate according to a position-to-position relationship, wherein a position of slave follower 108 is defined as a function of a profile of master source 104 .
  • the function defining the master source-slave follower relationship may dictate that when master source 104 is at a first position, such as position “5”, slave follower 108 must be at a second position, such as position “2”. Accordingly, during operation of system 100 , in one embodiment, the position of slave follower 108 tracks the profile of master source 104 based on the function defining the master source-slave follower relationship.
  • slave follower 108 begins to operate outside of a master profile
  • system 100 synchronizes slave follower 108 with the master profile so that system 100 continues to operate properly. For example, when slave follower 108 is started after start-up of master source 104 , slave follower 108 is synchronized with the master profile so that slave follower 108 and master source 104 operate according to the function defining the master source-slave follower relationship.
  • FIG. 2A shows a master profile 120 that represents a position of master source 104 as a function of time.
  • FIG. 2B shows an exemplary control signal 124 that represents a position of slave follower 108 as a function of time.
  • master profile 120 begins at a first position 132 that is shown in FIG. 2A as position “5.” Further, control signal 124 begins at a first position 136 shown in FIG. 2B as position “4.”
  • first position is defined as a position of one of master source 104 or slave follower 108 at a time that slave follower 108 is instructed to synchronize with the master profile 120 . Accordingly, as will be appreciated by one of ordinary skill in the art, the slave follower 108 and/or the master source 104 may be stationary and/or moving at the time that first position 132 and first position 136 are defined.
  • a position-to-position relationship is defined to relate a position of master source 104 on master profile 120 to a position of slave follower 108 on control signal 124 .
  • this relationship defines a position of control signal 124 when master profile 120 is at a particular position.
  • control signal 124 and master profile 120 are configured to operate in a one-to-one relationship.
  • control signal 124 and master profile 120 can be defined by any suitable relationship.
  • control signal 124 is configured to be at position “5” when master profile 120 is at position “5”.
  • master profile 120 has a first position 132 of “5” at the time that control signal 124 has a first position 136 of “4.” Accordingly, control signal 124 is synchronized with master profile 120 .
  • FIG. 3 is a flowchart 160 of an exemplary method 164 for defining a curve to synchronize slave follower 108 with master profile 120 .
  • method 164 includes defining 168 a profile that relates the position of master source 104 on master profile 120 to the position of slave follower 108 on control signal 124 .
  • the profile is input 172 into computer 112 .
  • method 164 includes inputting 176 initial conditions including first position 132 of master source 104 on master profile 120 and first position 136 of slave follower 108 on control signal 124 .
  • first position 132 is “5” and first position 136 is “4.” Accordingly, in the exemplary embodiment, the positions “4” and “5” are input 176 into computer 112 .
  • method 164 also includes defining 184 a second position 188 where slave follower 108 is configured to synchronize with master profile 120 .
  • second position 188 is defined by the position of master profile 120 and control signal 124 , and is not defined by a time, a velocity, and/or an acceleration.
  • slave follower 108 is configured to synchronize with master profile 120 at a position “9.” Accordingly, the position “9” is input 192 into computer 112 .
  • second position 188 is defined as “9” in the exemplary embodiment, method 164 is capable of synchronizing control signal 124 with master profile 120 at any position.
  • method 164 includes fitting 196 a curve between first position 136 of the control signal 124 and second position 188 .
  • FIG. 4B shows a position curve 200 that represents a position of slave follower 108 while synchronizing with master profile 120 . As shown in FIG. 4B , position curve 200 has been fit 196 between first position 136 and second position 188 .
  • FIG. 4A shows master profile 120
  • FIG. 4B shows position curve 200
  • FIG. 4C shows a velocity curve 208 that represents a velocity of slave follower 108 as defined by position curve 200
  • FIG. 4D shows an acceleration curve 212 that represents an acceleration of slave follower 108 as defined by velocity curve 208 .
  • position curve 200 is fit 196 based on the profile, first position 136 , first position 132 , and second position 188 . More specifically, in the exemplary embodiment, position curve 200 is fit 196 using a quintic-hermite spline to substantially eliminate undesirable movement, such as jerk, while slave follower 108 as represented by control signal 124 synchronizes with master profile 120 .
  • jerk is defined as a substantially sudden increase or decrease in velocity and/or acceleration. Further, jerk is represented as the third derivative of a position over time curve. Accordingly, as described in more detail below, a lack of jerk is illustrated in curves 208 and 212 .
  • FIGS. 5A-5D an example of jerk is shown in FIGS. 5A-5D .
  • FIG. 5A shows master profile 120
  • FIG. 5B shows a slave follower position curve 220 that has been fit between first position 136 and second position 188 using a linear ramp.
  • position curve 220 represents a position of slave follower 108 while synchronizing with master profile 120 .
  • FIG. 5C shows a velocity curve 224 that represents a velocity of slave follower 108 as defined by position curve 220
  • FIG. 5D shows an acceleration curve 228 that represents an acceleration of slave follower 108 as defined by velocity curve 224 .
  • velocity curve 224 includes a first spike 232 that occurs between times “0.05” and “0.06” when slave follower 108 synchronizes with master profile 120 at second position 188 , and a second spike 234 that occurs at time “0.”
  • Spike 232 represents a sudden decrease in the velocity of slave follower 108 when slave follower 108 synchronizes with master profile 120
  • spike 234 represents a sudden increase in the velocity of slave follower 108 at time “0.” Accordingly, spikes 232 and 234 will cause jerk or other undesirable movement in slave follower 108 when the ramping process begins and at the time that slave follower 108 synchronizes with master profile 120 .
  • acceleration curve 228 as shown in FIG.
  • 5D includes a first spike 236 that occurs between times “0.05” and “0.06” when slave follower 108 synchronizes with master profile 120 at second position 188 , and a second spike 238 that occurs at time “0.”
  • Spike 236 represents a sudden decrease followed by a sudden increase in the acceleration of slave follower 108 when slave follower 108 synchronizes with master profile 120
  • spike 238 represents a sudden decrease in the acceleration of slave follower 108 at time “0.” Accordingly, spike 236 and spike 238 may cause jerk in slave follower 108 when the ramping process begins and/or at the time that slave follower 108 synchronizes with master profile 120 .
  • FIG. 6A shows position curve 120 and FIG. 6B shows a slave follower position curve 260 that has been fit between first position 136 and second position 188 using a cubic ramp.
  • position curve 260 represents a position of slave follower 108 while synchronizing with master profile 120 .
  • FIG. 6C shows a velocity curve 264 that represents a velocity of slave follower 108 as defined by position curve 260
  • FIG. 6D shows an acceleration curve 268 that represents an acceleration of slave follower 108 as defined by velocity curve 264 .
  • the spikes such as spikes 232 and 234 shown in FIG. 5 C, have been substantially eliminated from velocity curve 264 .
  • acceleration curve 268 includes a first spike 272 that occurs between times “0.05” and “0.06” when slave follower 108 synchronizes with master profile 120 at second position 188 , and a second spike 274 that occurs at time “0.”
  • Spike 272 represents a sudden increase in the acceleration of slave follower 108 when slave follower 108 synchronizes with master profile 120
  • spike 274 represents a sudden increase in the acceleration of slave follower 108 at time “0.” Accordingly, spikes 272 and 274 may cause jerk in slave follower 108 when the ramping process begins and at the time that slave follower 108 synchronizes with master profile 120 .
  • curves 208 and 212 do not include any spike that would result in jerk during any portion of the ramping process.
  • a comparison of FIGS. 4C and 4D to FIGS. 5C and 5D and FIGS. 6C and 6D shows that using a quintic spline when fitting 196 a curve between first position 136 and second position 188 substantially eliminates jerk in slave follower 108 , and more generally, in system 100 .
  • position curve 200 shown in FIG.
  • position curve 200 is fit 196 and used to synchronize slave follower 108 with master profile 120 without lifting or removing constraints on slave follower 108 and/or placing constraints on master source 104 .
  • position curve 200 may not account for the constraints placed on slave follower 108 .
  • slave follower 108 is constrained by a maximum velocity of “120”.
  • FIG. 4C when position curve 200 is fit between positions 136 and 188 , slave follower 108 exceeds the maximum velocity, as shown by velocity curve 208 . Specifically, the maximum velocity is exceeded between points 300 and 304 . Accordingly, referring again to FIG. 3 , method 164 includes a final step of adjusting 308 position curve 200 to account for a constraint on slave follower 108 .
  • position curve 200 is adjusted 308 by applying quintic-hermite splines to fit a plurality of points 312 onto position curve 200 . More specifically, points 312 are fit to adjust curve 200 along curve 314 such that velocity curve 208 is repositioned, as shown in FIG. 7B by a new velocity curve 316 . Specifically, position curve 200 is adjusted such that slave follower 108 does not exceed the maximum velocity.
  • the exemplary embodiment shows only two points 312 fit to position curve 200 , as will be appreciated by one of ordinary skill in the art, any number of points 312 can be fit to position curve 200 . Specifically, points 312 are fit to position curve 200 until all of velocity curve 208 is repositioned below the maximum velocity.
  • position curve 200 is adjusted 308 by operating slave follower 108 off position curve 200 .
  • Slave follower 108 is then operated within the constraint as shown in FIG. 8B by line 320 . Accordingly, position curve 200 is urged to follow curve 322 .
  • a new curve 324 is generated to urge or bring slave follower 108 onto position curve 200 from curve 322 . Accordingly, curve 200 is repositioned according to the constraints placed on slave follower 108 .
  • method 164 enables slave follower 108 to synchronize with master profile 120 within a time frame that facilitates maintaining a performance of system 100 .
  • method 164 protects system 100 by limiting the behavior of slave follower 108 .
  • method 164 allows for a wide range of behaviors for master source 104 , for example, short or long moves, high or low velocities, and/or high or low accelerations.
  • method 164 self-corrects if slave follower 108 approaches or exceeds a constraint.
  • a method for synchronizing a slave follower with a master source includes defining a relationship between the master source and the slave follower, inputting a first position of the master source, and inputting a first position of the slave follower.
  • the method also includes defining a second position where the slave follower synchronizes with the master source, and fitting a curve between the first position of the slave follower the second position. The curve is fit based on the relationship between the master source and the slave follower, the first position of the slave follower, the first position of the master source, and the second position. The curve is fit to synchronize the slave follower and the master source without exceeding pre-determined boundaries of the slave follower.
  • the slave follower and the master source are motors. Further, in an exemplary embodiment, a quintic-hermite spline is applied to fit the curve. Moreover, in an exemplary embodiment, the slave follower is synchronized with the master source without at least one of placing constraints on the master source and removing constraints from the slave follower. In addition, in the exemplary embodiment, the slave follower is synchronized with the master profile without creating jerk in the slave follower.
  • the method also includes adjusting the curve to account for a constraint on the slave follower.
  • the curve is adjusted to account for a constraint on the slave follower by applying a quintic-hermite spline to fit a plurality of points within the curve.
  • the curve is adjusted to account for a constraint on the slave follower by operating the slave follower off the curve, operating the slave follower within the constraint while the slave follower is operated off the curve, and generating a new curve to urge the slave follower onto the curve.

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
US11/961,198 2007-12-20 2007-12-20 Methods and systems for synchronizing a control signal of a slave follower with a master source Expired - Fee Related US7962240B2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US11/961,198 US7962240B2 (en) 2007-12-20 2007-12-20 Methods and systems for synchronizing a control signal of a slave follower with a master source
JP2010539562A JP2011508312A (ja) 2007-12-20 2008-11-14 スレーブフォロワの制御信号をマスタソースと同期させる方法およびシステム
EP08869139A EP2225620A1 (en) 2007-12-20 2008-11-14 Methods and systems for synchronizing a control signal of a slave follower with a master source
CN200880122041.0A CN101952785B (zh) 2007-12-20 2008-11-14 用于使从跟随器的控制信号与主源同步的方法和系统
PCT/US2008/083567 WO2009085422A1 (en) 2007-12-20 2008-11-14 Methods and systems for synchronizing a control signal of a slave follower with a master source

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US11/961,198 US7962240B2 (en) 2007-12-20 2007-12-20 Methods and systems for synchronizing a control signal of a slave follower with a master source

Publications (2)

Publication Number Publication Date
US20090160504A1 US20090160504A1 (en) 2009-06-25
US7962240B2 true US7962240B2 (en) 2011-06-14

Family

ID=40428283

Family Applications (1)

Application Number Title Priority Date Filing Date
US11/961,198 Expired - Fee Related US7962240B2 (en) 2007-12-20 2007-12-20 Methods and systems for synchronizing a control signal of a slave follower with a master source

Country Status (5)

Country Link
US (1) US7962240B2 (ja)
EP (1) EP2225620A1 (ja)
JP (1) JP2011508312A (ja)
CN (1) CN101952785B (ja)
WO (1) WO2009085422A1 (ja)

Cited By (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090157218A1 (en) * 2007-12-13 2009-06-18 Fanuc Ltd Numerical controller for controlling five-axis machining apparatus
US8773455B2 (en) 2011-08-11 2014-07-08 Apple Inc. RGB-out dither interface
US9471452B2 (en) 2014-12-01 2016-10-18 Uptake Technologies, Inc. Adaptive handling of operating data
US20160371584A1 (en) 2015-06-05 2016-12-22 Uptake Technologies, Inc. Local Analytics at an Asset
US10169135B1 (en) 2018-03-02 2019-01-01 Uptake Technologies, Inc. Computer system and method of detecting manufacturing network anomalies
US10176279B2 (en) 2015-06-05 2019-01-08 Uptake Technologies, Inc. Dynamic execution of predictive models and workflows
US10210037B2 (en) 2016-08-25 2019-02-19 Uptake Technologies, Inc. Interface tool for asset fault analysis
US10228925B2 (en) 2016-12-19 2019-03-12 Uptake Technologies, Inc. Systems, devices, and methods for deploying one or more artifacts to a deployment environment
US10255526B2 (en) 2017-06-09 2019-04-09 Uptake Technologies, Inc. Computer system and method for classifying temporal patterns of change in images of an area
US10291732B2 (en) 2015-09-17 2019-05-14 Uptake Technologies, Inc. Computer systems and methods for sharing asset-related information between data platforms over a network
US10333775B2 (en) 2016-06-03 2019-06-25 Uptake Technologies, Inc. Facilitating the provisioning of a local analytics device
US10379982B2 (en) 2017-10-31 2019-08-13 Uptake Technologies, Inc. Computer system and method for performing a virtual load test
US10474932B2 (en) 2016-09-01 2019-11-12 Uptake Technologies, Inc. Detection of anomalies in multivariate data
US10510006B2 (en) 2016-03-09 2019-12-17 Uptake Technologies, Inc. Handling of predictive models based on asset location
US10552246B1 (en) 2017-10-24 2020-02-04 Uptake Technologies, Inc. Computer system and method for handling non-communicative assets
US10554518B1 (en) 2018-03-02 2020-02-04 Uptake Technologies, Inc. Computer system and method for evaluating health of nodes in a manufacturing network
US10579961B2 (en) 2017-01-26 2020-03-03 Uptake Technologies, Inc. Method and system of identifying environment features for use in analyzing asset operation
US10579932B1 (en) 2018-07-10 2020-03-03 Uptake Technologies, Inc. Computer system and method for creating and deploying an anomaly detection model based on streaming data
US10579750B2 (en) 2015-06-05 2020-03-03 Uptake Technologies, Inc. Dynamic execution of predictive models
US10623294B2 (en) 2015-12-07 2020-04-14 Uptake Technologies, Inc. Local analytics device
US10635095B2 (en) 2018-04-24 2020-04-28 Uptake Technologies, Inc. Computer system and method for creating a supervised failure model
US10635519B1 (en) 2017-11-30 2020-04-28 Uptake Technologies, Inc. Systems and methods for detecting and remedying software anomalies
US10671039B2 (en) 2017-05-03 2020-06-02 Uptake Technologies, Inc. Computer system and method for predicting an abnormal event at a wind turbine in a cluster
US10796235B2 (en) 2016-03-25 2020-10-06 Uptake Technologies, Inc. Computer systems and methods for providing a visualization of asset event and signal data
US10815966B1 (en) 2018-02-01 2020-10-27 Uptake Technologies, Inc. Computer system and method for determining an orientation of a wind turbine nacelle
US10860599B2 (en) 2018-06-11 2020-12-08 Uptake Technologies, Inc. Tool for creating and deploying configurable pipelines
US10878385B2 (en) 2015-06-19 2020-12-29 Uptake Technologies, Inc. Computer system and method for distributing execution of a predictive model
US10975841B2 (en) 2019-08-02 2021-04-13 Uptake Technologies, Inc. Computer system and method for detecting rotor imbalance at a wind turbine
US11030067B2 (en) 2019-01-29 2021-06-08 Uptake Technologies, Inc. Computer system and method for presenting asset insights at a graphical user interface
US11119472B2 (en) 2018-09-28 2021-09-14 Uptake Technologies, Inc. Computer system and method for evaluating an event prediction model
US11181894B2 (en) 2018-10-15 2021-11-23 Uptake Technologies, Inc. Computer system and method of defining a set of anomaly thresholds for an anomaly detection model
US11208986B2 (en) 2019-06-27 2021-12-28 Uptake Technologies, Inc. Computer system and method for detecting irregular yaw activity at a wind turbine
US11232371B2 (en) 2017-10-19 2022-01-25 Uptake Technologies, Inc. Computer system and method for detecting anomalies in multivariate data
US11295217B2 (en) 2016-01-14 2022-04-05 Uptake Technologies, Inc. Localized temporal model forecasting
US11480934B2 (en) 2019-01-24 2022-10-25 Uptake Technologies, Inc. Computer system and method for creating an event prediction model
US11797550B2 (en) 2019-01-30 2023-10-24 Uptake Technologies, Inc. Data science platform
US11892830B2 (en) 2020-12-16 2024-02-06 Uptake Technologies, Inc. Risk assessment at power substations

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011110289A1 (de) * 2010-03-12 2011-09-15 Sew-Eurodrive Gmbh & Co. Kg Verfahren zur bestimmung eines optimierten sollkurvenverlaufs bei einer mehrachsigen maschine zur fliegenden bearbeitung von fördergut
EP2884361B1 (de) 2013-12-12 2022-08-10 Siemens Aktiengesellschaft Verfahren zum Betrieb eines Bewegungssteuerungssystems und nach dem Verfahren arbeitendes Bewegungssteuerungssystem sowie Computerprogramm zur Implementierung des Verfahrens
ITUB20153295A1 (it) * 2015-08-31 2017-03-03 Marposs Spa Sistema e metodo di elaborazione e trasmissione dati
US11427169B2 (en) 2020-02-03 2022-08-30 Bendix Commercial Vehicle Systems Llc Apparatus, method and system for determining the position of vehicles connected to a tractor by the use of a global positioning satellite (GPS)
EP4184266A1 (en) * 2021-11-22 2023-05-24 ATS Automation Tooling Systems Inc. System and method for managing automation systems with jerk compensation

Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3798430A (en) 1973-02-27 1974-03-19 Giddings & Lewis Reduction of servo following errors in position and velocity control systems of the iteratively computing type
US3949281A (en) * 1974-10-22 1976-04-06 Young Jr William O Control system
US4093904A (en) 1976-02-04 1978-06-06 Contraves Goerz Corporation Multi-axis motion generator utilizing feedforward control
US4405884A (en) 1981-04-27 1983-09-20 Weber Harold J Shaft position synchronization means for multiple synchronous induction motors
US4639172A (en) 1983-05-31 1987-01-27 Fanuc Ltd. Trace control method
US4772966A (en) * 1984-10-05 1988-09-20 Otari Electric Co., Ltd. Synchronization method and apparatus
US4782449A (en) 1986-04-17 1988-11-01 Glasstech, Inc. Position controller for glass sheet processing system
US5299658A (en) 1993-06-17 1994-04-05 Hunter Engineering Company Automatic hydraulic lift circuit
US5463296A (en) 1993-06-30 1995-10-31 Allen-Bradley Company, Inc. Motion controller with remote linking
US5917294A (en) 1995-08-31 1999-06-29 Canon Kabushiki Kaisha Synchronization control apparatus and method
US20020022905A1 (en) 2000-04-10 2002-02-21 Josef Erlanoen Input method for programming industrial controllers
US6366045B1 (en) 1999-07-16 2002-04-02 Mannesmann Ag Operating-cycle synchronized engagement and disengagement of servo axle groups by means of electronically simulated cam disks
EP1197821A2 (en) 2000-10-13 2002-04-17 Fanuc Ltd Acceleration/deceleration method
EP1221640A2 (en) 2000-12-28 2002-07-10 Fanuc Ltd Method of and apparatus for synchronous control
US6591158B1 (en) 2000-06-09 2003-07-08 The Boeing Company Methods and apparatus for defining a low-curvature tool path
US6876170B2 (en) 2003-01-30 2005-04-05 Fanuc Ltd Controller
US6969961B2 (en) * 2003-09-05 2005-11-29 Siemens Aktiengesellschaft Method for controlling a rotation speed of a slave drive, a corresponding controller and a corresponding machine
EP1944668A2 (en) 2007-01-05 2008-07-16 Fanuc Ltd Numerical controller and synchronous control method using numerical controller
EP1956453A1 (de) 2007-02-05 2008-08-13 Robert Bosch Gmbh Verfahren zum Betreiben von Maschinen mit anpassbaren Bewegungsprofilen

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5119309A (en) * 1989-04-26 1992-06-02 General Motors Corporation Feature based method of designing automotive panels
JP2004072810A (ja) * 2002-08-01 2004-03-04 Meidensha Corp シャフトレス機械の同期制御方法
JP4003792B2 (ja) * 2004-11-17 2007-11-07 オムロン株式会社 サーボモータ制御システム

Patent Citations (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3798430A (en) 1973-02-27 1974-03-19 Giddings & Lewis Reduction of servo following errors in position and velocity control systems of the iteratively computing type
US3949281A (en) * 1974-10-22 1976-04-06 Young Jr William O Control system
US4093904A (en) 1976-02-04 1978-06-06 Contraves Goerz Corporation Multi-axis motion generator utilizing feedforward control
US4405884A (en) 1981-04-27 1983-09-20 Weber Harold J Shaft position synchronization means for multiple synchronous induction motors
US4639172A (en) 1983-05-31 1987-01-27 Fanuc Ltd. Trace control method
US4772966A (en) * 1984-10-05 1988-09-20 Otari Electric Co., Ltd. Synchronization method and apparatus
US4782449A (en) 1986-04-17 1988-11-01 Glasstech, Inc. Position controller for glass sheet processing system
US5299658A (en) 1993-06-17 1994-04-05 Hunter Engineering Company Automatic hydraulic lift circuit
US5463296A (en) 1993-06-30 1995-10-31 Allen-Bradley Company, Inc. Motion controller with remote linking
US5689161A (en) 1993-06-30 1997-11-18 Allen-Bradley Company, Inc. Motion controller with remote linking
US5917294A (en) 1995-08-31 1999-06-29 Canon Kabushiki Kaisha Synchronization control apparatus and method
US6366045B1 (en) 1999-07-16 2002-04-02 Mannesmann Ag Operating-cycle synchronized engagement and disengagement of servo axle groups by means of electronically simulated cam disks
US20020022905A1 (en) 2000-04-10 2002-02-21 Josef Erlanoen Input method for programming industrial controllers
US6591158B1 (en) 2000-06-09 2003-07-08 The Boeing Company Methods and apparatus for defining a low-curvature tool path
EP1197821A2 (en) 2000-10-13 2002-04-17 Fanuc Ltd Acceleration/deceleration method
EP1221640A2 (en) 2000-12-28 2002-07-10 Fanuc Ltd Method of and apparatus for synchronous control
US6909938B2 (en) * 2000-12-28 2005-06-21 Fanuc Ltd. Method of and apparatus for synchronous control
US6876170B2 (en) 2003-01-30 2005-04-05 Fanuc Ltd Controller
US6969961B2 (en) * 2003-09-05 2005-11-29 Siemens Aktiengesellschaft Method for controlling a rotation speed of a slave drive, a corresponding controller and a corresponding machine
EP1944668A2 (en) 2007-01-05 2008-07-16 Fanuc Ltd Numerical controller and synchronous control method using numerical controller
EP1956453A1 (de) 2007-02-05 2008-08-13 Robert Bosch Gmbh Verfahren zum Betreiben von Maschinen mit anpassbaren Bewegungsprofilen

Cited By (55)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090157218A1 (en) * 2007-12-13 2009-06-18 Fanuc Ltd Numerical controller for controlling five-axis machining apparatus
US8260453B2 (en) * 2007-12-13 2012-09-04 Fanuc Ltd Numerical controller for controlling five-axis machining apparatus
US8773455B2 (en) 2011-08-11 2014-07-08 Apple Inc. RGB-out dither interface
US9864665B2 (en) 2014-12-01 2018-01-09 Uptake Technologies, Inc. Adaptive handling of operating data based on assets' external conditions
US9471452B2 (en) 2014-12-01 2016-10-18 Uptake Technologies, Inc. Adaptive handling of operating data
US9842034B2 (en) 2014-12-01 2017-12-12 Uptake Technologies, Inc. Mesh network routing based on availability of assets
US10261850B2 (en) 2014-12-01 2019-04-16 Uptake Technologies, Inc. Aggregate predictive model and workflow for local execution
US9910751B2 (en) 2014-12-01 2018-03-06 Uptake Technologies, Inc. Adaptive handling of abnormal-condition indicator criteria
US10025653B2 (en) 2014-12-01 2018-07-17 Uptake Technologies, Inc. Computer architecture and method for modifying intake data rate based on a predictive model
US10417076B2 (en) 2014-12-01 2019-09-17 Uptake Technologies, Inc. Asset health score
US10545845B1 (en) 2014-12-01 2020-01-28 Uptake Technologies, Inc. Mesh network routing based on availability of assets
US10176032B2 (en) 2014-12-01 2019-01-08 Uptake Technologies, Inc. Subsystem health score
US10754721B2 (en) 2014-12-01 2020-08-25 Uptake Technologies, Inc. Computer system and method for defining and using a predictive model configured to predict asset failures
US11144378B2 (en) 2014-12-01 2021-10-12 Uptake Technologies, Inc. Computer system and method for recommending an operating mode of an asset
US10176279B2 (en) 2015-06-05 2019-01-08 Uptake Technologies, Inc. Dynamic execution of predictive models and workflows
US10254751B2 (en) 2015-06-05 2019-04-09 Uptake Technologies, Inc. Local analytics at an asset
US10579750B2 (en) 2015-06-05 2020-03-03 Uptake Technologies, Inc. Dynamic execution of predictive models
US20160371584A1 (en) 2015-06-05 2016-12-22 Uptake Technologies, Inc. Local Analytics at an Asset
US11036902B2 (en) 2015-06-19 2021-06-15 Uptake Technologies, Inc. Dynamic execution of predictive models and workflows
US10878385B2 (en) 2015-06-19 2020-12-29 Uptake Technologies, Inc. Computer system and method for distributing execution of a predictive model
US10291732B2 (en) 2015-09-17 2019-05-14 Uptake Technologies, Inc. Computer systems and methods for sharing asset-related information between data platforms over a network
US10291733B2 (en) 2015-09-17 2019-05-14 Uptake Technologies, Inc. Computer systems and methods for governing a network of data platforms
US10623294B2 (en) 2015-12-07 2020-04-14 Uptake Technologies, Inc. Local analytics device
US11295217B2 (en) 2016-01-14 2022-04-05 Uptake Technologies, Inc. Localized temporal model forecasting
US10510006B2 (en) 2016-03-09 2019-12-17 Uptake Technologies, Inc. Handling of predictive models based on asset location
US11017302B2 (en) 2016-03-25 2021-05-25 Uptake Technologies, Inc. Computer systems and methods for creating asset-related tasks based on predictive models
US10796235B2 (en) 2016-03-25 2020-10-06 Uptake Technologies, Inc. Computer systems and methods for providing a visualization of asset event and signal data
US10333775B2 (en) 2016-06-03 2019-06-25 Uptake Technologies, Inc. Facilitating the provisioning of a local analytics device
US10210037B2 (en) 2016-08-25 2019-02-19 Uptake Technologies, Inc. Interface tool for asset fault analysis
US10474932B2 (en) 2016-09-01 2019-11-12 Uptake Technologies, Inc. Detection of anomalies in multivariate data
US10228925B2 (en) 2016-12-19 2019-03-12 Uptake Technologies, Inc. Systems, devices, and methods for deploying one or more artifacts to a deployment environment
US10579961B2 (en) 2017-01-26 2020-03-03 Uptake Technologies, Inc. Method and system of identifying environment features for use in analyzing asset operation
US10671039B2 (en) 2017-05-03 2020-06-02 Uptake Technologies, Inc. Computer system and method for predicting an abnormal event at a wind turbine in a cluster
US10255526B2 (en) 2017-06-09 2019-04-09 Uptake Technologies, Inc. Computer system and method for classifying temporal patterns of change in images of an area
US11232371B2 (en) 2017-10-19 2022-01-25 Uptake Technologies, Inc. Computer system and method for detecting anomalies in multivariate data
US10552246B1 (en) 2017-10-24 2020-02-04 Uptake Technologies, Inc. Computer system and method for handling non-communicative assets
US10379982B2 (en) 2017-10-31 2019-08-13 Uptake Technologies, Inc. Computer system and method for performing a virtual load test
US10635519B1 (en) 2017-11-30 2020-04-28 Uptake Technologies, Inc. Systems and methods for detecting and remedying software anomalies
US10815966B1 (en) 2018-02-01 2020-10-27 Uptake Technologies, Inc. Computer system and method for determining an orientation of a wind turbine nacelle
US10552248B2 (en) 2018-03-02 2020-02-04 Uptake Technologies, Inc. Computer system and method of detecting manufacturing network anomalies
US10554518B1 (en) 2018-03-02 2020-02-04 Uptake Technologies, Inc. Computer system and method for evaluating health of nodes in a manufacturing network
US10169135B1 (en) 2018-03-02 2019-01-01 Uptake Technologies, Inc. Computer system and method of detecting manufacturing network anomalies
US10635095B2 (en) 2018-04-24 2020-04-28 Uptake Technologies, Inc. Computer system and method for creating a supervised failure model
US10860599B2 (en) 2018-06-11 2020-12-08 Uptake Technologies, Inc. Tool for creating and deploying configurable pipelines
US10579932B1 (en) 2018-07-10 2020-03-03 Uptake Technologies, Inc. Computer system and method for creating and deploying an anomaly detection model based on streaming data
US11119472B2 (en) 2018-09-28 2021-09-14 Uptake Technologies, Inc. Computer system and method for evaluating an event prediction model
US11181894B2 (en) 2018-10-15 2021-11-23 Uptake Technologies, Inc. Computer system and method of defining a set of anomaly thresholds for an anomaly detection model
US11480934B2 (en) 2019-01-24 2022-10-25 Uptake Technologies, Inc. Computer system and method for creating an event prediction model
US11868101B2 (en) 2019-01-24 2024-01-09 Uptake Technologies, Inc. Computer system and method for creating an event prediction model
US11030067B2 (en) 2019-01-29 2021-06-08 Uptake Technologies, Inc. Computer system and method for presenting asset insights at a graphical user interface
US11711430B2 (en) 2019-01-29 2023-07-25 Uptake Technologies, Inc. Computer system and method for presenting asset insights at a graphical user interface
US11797550B2 (en) 2019-01-30 2023-10-24 Uptake Technologies, Inc. Data science platform
US11208986B2 (en) 2019-06-27 2021-12-28 Uptake Technologies, Inc. Computer system and method for detecting irregular yaw activity at a wind turbine
US10975841B2 (en) 2019-08-02 2021-04-13 Uptake Technologies, Inc. Computer system and method for detecting rotor imbalance at a wind turbine
US11892830B2 (en) 2020-12-16 2024-02-06 Uptake Technologies, Inc. Risk assessment at power substations

Also Published As

Publication number Publication date
JP2011508312A (ja) 2011-03-10
EP2225620A1 (en) 2010-09-08
WO2009085422A1 (en) 2009-07-09
CN101952785B (zh) 2014-06-25
CN101952785A (zh) 2011-01-19
US20090160504A1 (en) 2009-06-25

Similar Documents

Publication Publication Date Title
US7962240B2 (en) Methods and systems for synchronizing a control signal of a slave follower with a master source
AU2001294017A1 (en) A method for controlling access to protected content
MY125125A (en) Method and system for ordering priority commands on a commodity disk drive
EP1465076A3 (en) External storage and data recovery method and program therefor
JP2002334049A5 (ja)
DE60214147D1 (de) System und methode zum wiederherstellen eines computersystems welches durch ein bösartiges computerprogramm beschädigt worden ist
GB2386456A (en) Computer system with operating system on a ram-disk
AU2003264072A1 (en) Safety control system for fail-safe control of safety-critical processes and method for running a new operating program therein
WO2006118788A3 (en) System and method for decoding commands based on command signals and operating state
EP1069716A3 (en) A throttler for rapid start-up of a program controlled broadcast system
WO2007066271A3 (en) Resource control
BRPI0401813A (pt) Sistema de controle para um veìculo utilitário e método de controlar um motor em um veìculo
JP2006134376A (ja) 磁気ディスク装置及びシーク動作の実行方法
BRPI0416836A (pt) aparelho elevador e método de controle para um aparelho elevador
JP2009129077A (ja) メモリクロック設定機能を有する情報処理装置およびメモリクロック設定方法
EP4093579A4 (en) ROBOT CONTROL SYSTEM AND METHOD, ELECTRONIC DEVICE AND COMPUTER READABLE MEDIUM
US7541767B2 (en) Decentralized error response in cam disk axes
CN107432104A (zh) 元件安装机的驱动系统
EP1378902A3 (en) Method and apparatus for controlling data recording speed in an optical disk device
JP2004009168A (ja) 制御装置および機械装置システム
WO2004057465A3 (de) Verfahren und vorrichtung zur änderung von software in einem steuergerät sowie entsprechendes steuergerät
CN111106786A (zh) 一种电机控制方法
WO2005078537A3 (de) Projektierungsverfahren für ein automatisierungssystem
AU2003289919A1 (en) Memory system comprising a plurality of memory controllers and method for synchronizing the same
JPH0985654A (ja) 複数ロボットの同調制御方法

Legal Events

Date Code Title Description
AS Assignment

Owner name: GE FANUC INTELLIGENT PLATFORMS, INC.,VIRGINIA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:MORRISON, WILLIAM LINDSAY;MILLER, DANIEL H.;REEL/FRAME:020276/0859

Effective date: 20071218

Owner name: GE FANUC INTELLIGENT PLATFORMS, INC., VIRGINIA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:MORRISON, WILLIAM LINDSAY;MILLER, DANIEL H.;REEL/FRAME:020276/0859

Effective date: 20071218

AS Assignment

Owner name: GE INTELLIGENT PLATFORMS, INC., VIRGINIA

Free format text: CHANGE OF NAME;ASSIGNOR:GE FANUC INTELLIGENT PLATFORMS, INC.;REEL/FRAME:026216/0330

Effective date: 20091228

STCF Information on status: patent grant

Free format text: PATENTED CASE

FPAY Fee payment

Year of fee payment: 4

FEPP Fee payment procedure

Free format text: MAINTENANCE FEE REMINDER MAILED (ORIGINAL EVENT CODE: REM.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

LAPS Lapse for failure to pay maintenance fees

Free format text: PATENT EXPIRED FOR FAILURE TO PAY MAINTENANCE FEES (ORIGINAL EVENT CODE: EXP.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

STCH Information on status: patent discontinuation

Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362

FP Lapsed due to failure to pay maintenance fee

Effective date: 20190614